import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import (IncludeLaunchDescription)
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration


def generate_launch_description():
    is_uvc_cam = LaunchConfiguration('is_uvc_cam', default='false')

    bringup_dir = get_package_share_directory('turn_on_bichon')
    launch_dir = os.path.join(bringup_dir, 'launch')
    bichon_mera = IncludeLaunchDescription(
            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'bichon_mera.launch.py')),
    )
    bichon_robot = IncludeLaunchDescription(
            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'turn_on_bichon.launch.py')),
    )
    return LaunchDescription([turn_on_bichon
        bichon_robot,bibichon_ra,

        launch_ros.actions.Node(
            package='simple_follower_ros2',
            executable='line_follow',
            name='line_follow',
            )]
    )
